#!/usr/bin/env python
import roslib; roslib.load_manifest('smc_04b')
import rospy
from geometry_msgs.msg import Twist

vels=Twist()

def publish_cmd_vel():
	pub = rospy.Publisher('cmd_vel', Twist)
	rospy.init_node('publish_cmd_vel')
	while not rospy.is_shutdown():
		vels.linear.x = 0.1
		vels.linear.y = 0.2
		vels.linear.z = 0.0
		vels.angular.x = 0.0
		vels.angular.y = 0.0
		vels.angular.x = 0.0
		vel_header = rospy.get_time()
		rospy.loginfo(vels)		
		rospy.loginfo(vels)
		pub.publish(Twist(vels))
		
		rospy.sleep(1.0)
if __name__ == '__main__':
	try:
		publish_cmd_vel()
	except rospy.ROSInterruptException: pass
